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bulk_sensor: Refactor ChipClockUpdater constructor

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Build the clock_sync and struct.Struct() in the ChipClockUpdater
constructor.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
2024-04-13 21:02:04 -04:00
parent 56829b07d2
commit 9ceaae3847
5 changed files with 31 additions and 45 deletions
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14
klippy/extras/lis2dw.py
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@@ -30,9 +30,6 @@ LIS2DW_DEV_ID = 0x44
FREEFALL_ACCEL = 9.80665
SCALE = FREEFALL_ACCEL * 1.952 / 4
BYTES_PER_SAMPLE = 6
SAMPLES_PER_BLOCK = bulk_sensor.MAX_BULK_MSG_SIZE // BYTES_PER_SAMPLE
BATCH_UPDATES = 0.100
# Printer class that controls LIS2DW chip
@@ -55,9 +52,8 @@ class LIS2DW:
self.bulk_queue = bulk_sensor.BulkDataQueue(mcu, oid=oid)
# Clock tracking
chip_smooth = self.data_rate * BATCH_UPDATES * 2
self.clock_sync = bulk_sensor.ClockSyncRegression(mcu, chip_smooth)
self.clock_updater = bulk_sensor.ChipClockUpdater(self.clock_sync,
BYTES_PER_SAMPLE)
self.clock_updater = bulk_sensor.ChipClockUpdater(mcu, chip_smooth,
"<hhh")
self.last_error_count = 0
# Process messages in batches
self.batch_bulk = bulk_sensor.BatchBulkHelper(
@@ -72,8 +68,8 @@ class LIS2DW:
cmdqueue = self.spi.get_command_queue()
self.query_lis2dw_cmd = self.mcu.lookup_command(
"query_lis2dw oid=%c rest_ticks=%u", cq=cmdqueue)
self.clock_updater.setup_query_command(
self.mcu, "query_lis2dw_status oid=%c", oid=self.oid, cq=cmdqueue)
self.clock_updater.setup_query_command("query_lis2dw_status oid=%c",
oid=self.oid, cq=cmdqueue)
def read_reg(self, reg):
params = self.spi.spi_transfer([reg | REG_MOD_READ, 0x00])
response = bytearray(params['response'])
@@ -94,7 +90,7 @@ class LIS2DW:
# Measurement decoding
def _extract_samples(self, raw_samples):
# Convert messages to samples
samples = self.clock_updater.extract_samples("<hhh", raw_samples)
samples = self.clock_updater.extract_samples(raw_samples)
# Convert samples
(x_pos, x_scale), (y_pos, y_scale), (z_pos, z_scale) = self.axes_map
count = 0